RobotStudio event

Strange ERROR??? please help

Options
Kentthoresen
Kentthoresen ✭
in Robot Controller
Hi i get this strange fault i have an irb6400 on a track.

When testing cutting i instructed the robot to cut the same L shape in the exact same position in 3 seperat operations.

I cut one cut on 0 meters one moving the track x axis to 1.5 meters and then the final cut at 3 meters.

The robot drifts in negativ x positiv y and positiv z when the robot is closes to the workpiece.  I have no clue what could be causing this?

Can anyone help please?    --- 

Comments

  • ko414du4
    ko414du4 ✭
    Options
    Hi Kentthoresen,

    Does the robot execute the moves from the same routine for 3 times (see below)? Because I don't see why this should happen if it does. Perhaps you can paste some of your the code that executes the move on the forum?


    CONST robtarget myTgt:=[[100,200,300],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

    PROC Main()

        makeL 0;
        makeL 1.5;
        makeL 3;

    ENDPROC

    PROC makeL(num xDisplacement)

        ! Your moves here with xDisplacement used in Offs() instruction like below:
        ! MoveL Offs(myTgt,xDisplacement,0,0),v500,fine,myTool\WObj:=myWobj;

    ENDPROC

Categories

In this Discussion